Solution Manual For Mechanical Vibration - William Palm

Access full Solution Manual only here
http://www.book4me.xyz/solution-manual-mechanical-vibration-palm/
Problem 2.1 The tangential velocity component of the cylinder is Rφ̇, and the tangential
velocity component of the contact point is rθ̇. If there is no slipping, these two components
must be equal. Thus Rφ̇ = rθ̇.
Excerpts from this work may be reproduced by instructors for distribution on a not-for-profit basis for testing
or instructional purposes only to students enrolled in courses for which the textbook has been adopted. Any
other reproduction or translation of this work beyond that permitted by Sections 107 or 108 of the 1976
United States Copyright Act without the permission of the copyright owner is unlawful.
must be equal. Thus Rφ̇ = rθ̇.
Problem 2.3 Let θ be the angle of the line BA measured from the vertical. That is, θ = 0
when point A is in contact with the surface. Then ω = θ̇ and α = θ̈.
Let s be the linear displacement of point B. Then
s = Rθ
vB = Rθ̇ = Rω
aB = Rθ̈ = Rα
Establish an xy coordinate system whose origin is located at the point of contact of point
A with the surface at time t = 0. The coordinate x is positive to the left and y is positive
upward. Then the xy coordinates of point A are
x = s − R sin θ = R(θ − sin θ) y = R − R cos θ
ẋ = Rθ̇(1 − cos θ) = vB (1 − cos θ) ẏ = Rθ̇ sin θ = vB sin θ

So the velocity of point A has the components ẋ and ẏ. The magnitude of the velocity is
q q q
vA = ẋ2 + ẏ 2 = 2 (1 − cos θ)2 + v 2 sin2 θ = v
vB B B 2(1 − cos θ)
To find the acceleration, differentiate again to obtain
ẍ = ˙ Bv(1 − cos θ) + vB θ̇ sin θ = aB (1 − cos θ) + Rω 2 sin θ
ÿ = ˙ Bvsin θ + vB θ̇ cos θ = aB sin θ + Rω 2 cos θ

or
ẍ = Rα(1 − cos θ) + Rω 2 sin θ
ÿ = Rα sin θ + Rω 2 cos θ
The acceleration magnitude is
q p
aA = ẍ2 + ÿ 2 = 2R2α2 + R2 ω 4 + 2R2αω 2 − 2R2 α2 cos θ
Problem 2.4 Let x be the horizontal displacement of the vehicle measured to the left from
directly underneath the pulley. Let y be the height of the block above the ground. Let D
be the length of the hypotenuse of the triangle whose sides are x and 3 m. Then, from the
Pythagorean theorem,
D 2 = x2 + 32 (1)
Differentiate this to obtain
DḊ = xẋ (2)
The total cable length is 10 m, so D + 3 − y = 10 or
D =y+7 (3)
This gives
x2 = D2 − 9 = (y + 7)2 − 9 (4)
and
xẋ xẋ
ẏ = Ḋ = = (5)
D 7+y
Substituting
√ √ the given values of y = 2, ẋ = 0.2 into Equations (4) and (5), we obtain
x = 72 = 6 2 and √
6 2(0.2)
ẏ = = 0.1885 m/s
9
This is the velocity of the block after it has been raised 2 m.
To obtain the acceleration, differentiate Equations (2) and (5) to obtain
Ḋ2 + ḊD̈ = ˙ 2x+ ẋẍ
ÿ = D̈
Solve for D̈:
ẋ2 + ẋẍ − Ḋ2 (0.2)2 + 0 − (0.1885)2

D̈ = = = 0.0237 m/s2
Ḋ 0.1885
Since ÿ = D̈, the acceleration of the block after it has been raised 2 m is 0.0237 m/s2 .
Problem 2.5 Only one of the pulleys translates, so v2 = v1 /2.
Problem 2.6 Let vC denote the velocity of the middle pulley. Then vC = vA /2 and
vB = vC /2. Thus, vB = (vA /2)/2 = vA /4.
Problem 2.7
MO = IO α = IO θ̈
IO = IRG + mRL2 + mC L2C
MO = −mR gL sin θ − mC gLC sin θ
Thus
(IRG + mR L2 + mC L2C )θ̈ = −(mR L + mC LC )g sin θ
If mR ≈ 0 and if IRG ≈ 0, then
mC L2C θ̈ = −mC LC g sin θ
or
LC θ̈ = −g sin θ
must be equal. Thus Rφ̇ = rθ̇ and Rφ̈ = rθ̈.
1 1 h i2
KE = IG φ̇2 + M (r − R)θ̇
2 2
P E = M g [(r − R) − (r − R) cos θ] = M g(r − R) (1 − cos θ)
Because KE + P E = constant, then d(KE + P E)/dt = 0 and
IG φ̇φ̈ + M (r − R)2θ̇ θ̈ + M g(r − R) sin θ θ̇ = 0
But Rφ̇ = rθ̇ and φ̈ = rθ̈/R. Thus

2
r
IG θ̇ θ̈ + M (r − R)2θ̇ θ̈ + M g(r − R) sin θ θ̇ = 0
R
Cancel θ̇ and collect terms to obtain

" 2 #
r 2
IG + M (r − R) θ̈ + M g(r − R) sin θ = 0
R
must be equal. Thus Rφ̇ = rθ̇ and Rφ̈ = rθ̈.
The energy method is easier than the force- moment method here because 1) the motions
of the link and cylinder are directly coupled (i.e. if we know the position and velocity of one,
we know the position and velocity of the other), 2) the only external force is conservative
(gravity), and 3) we need not compute the reaction forces between the link and the cylinder.
2 " 2 #
1 1 h i2 1 L 1 L
KE = IG φ̇2 + M (r − R)θ̇ + m θ̇ + IO + m θ̇2
2 2 2 2 2 2
L
P E = M g(r − R) (1 − cos θ) + mg(r −
)(1 − cos θ)
2
Because KE + P E = constant, then d(KE + P E)/dt = 0, and
" 2 #
L2 2 L L
IG φ̇φ̈+M (r−R) θ̇ θ̈+m θ̇ θ̈+ IO + m θ̇ θ̈+M g(r−R) sin θ θ̇+mg r − sin θ θ̇ = 0
4 2 2
But φ̇ = rθ̇/R and φ̈ = rθ̈/R. Substitute these expressions, cancel θ̇, and collect terms to
obtain
" 2 #
r 2 L2 L2 L
IG + M (r − R) + m + IO + m θ̈ + M g(r − R) + mg r − sin θ = 0
R 4 4 2
Problem 2.10 a) Let point O be the pivot point and G be the center of mass. Let L be
the distance from O to G. Treat the pendulum as being composed of three masses:
1) m1 , the rod mass above point O, whose center of mass is 0.03 m above point O;
2) m2 , the rod mass below point O, whose center of mass is 0.045 m below point O, and
3) m3 , the mass of the 4.5 kg block.
Then, summing moments about G gives
m1 g(L + 0.03) − m2g(0.045 − L) − m3g(0.09 + 0.015 − L) = 0
where
0.06
m1 = 1.4 = 0.56 kg
0.15
0.09
m2 = 1.4 = 0.84 kg
0.15
m3 = 4.5 kg
The factor g cancels out of the equation to give
0.56(L + 0.03) − 0.84(0.045 − L) − 4.5(0.105 − L) = 0
which gives L = 0.084 m.

b) Summing moments about the pivot point O gives
IO θ̈ = −mgL sin θ
where m is the total mass. From the parallel-axis theorem, treating the rod as a slender
rod, we obtain
1
IO = (1.4) (0.06 + 0.09)2 + (1.4) (0.015)2 + (4.5) (0.09 + 0.015)2 = 0.0525 kg · m2
12
and mgL = (1.4 + 4.5)(9.81)(0.084) = 4.862 N·m. Thus the equation of motion is
0.0525θ̈ = −4.862 sin θ
or
θ̈ + 92.61 sin θ = 0
Problem 2.11 See the figure for the coordinate definitions and the definition of the reaction
force R. Let P be the point on the axle. Note that yP = 0. The coordinates of the mass
center of the rod are xG = xP − (L/2) sin θ and yG = −(L/2) cos θ. Thus
L L
ẍG = ẍP − θ̈ cos θ + θ̇2 sin θ
2 2
L L
θ̈ sin θ + θ̇2 cos θ
ÿG =
2 2
Let m be the mass of the rod. Summing forces in the x direction:

L L
mẍG = f or m ẍP − θ̈ cos θ + θ̇2 sin θ = f (1)
2 2
Summing forces in the y direction:

L L
mÿG = R − mg or m θ̈ sin θ + θ̇2 cos θ = R − mg (2)
2 2
Summing moments about the mass center: IG θ̈ = (f L/2) cos θ−(RL/2) sin θ. Substituting
for R from (2) and using the fact that IG = mL2 /12, we obtain
1 fL mgL mL2 mL2 2

mL2 θ̈ = cos θ − sin θ − sin2 θ θ̈ − θ̇ sin θ cos θ (3)
12 2 2 4 4
The model consists of (1) and (3) with m = 20 kg and L = 1.4 m.
Figure : for Problem 2.11
Problem 2.12 a) 2kx = mg, so x = mg/2k.
b)
1
T0 = 0 V0 = k(0.06)2
2
1 1
mv 2
T1 = V1 = k[0.06 + 2(0.09)]2 − mg(0.09)
2 2
From conservation of energy,
T 0 + V0 = T1 + V1
Thus
1 1 1
mv 2 = T0 + V0 − V1 = k(0.06)2 − k[0.06 + 2(0.09)]2 + mg(0.09)
2 2 2
Solve for v using m = 30 and k = 600 to obtain v = 0.828 m/s.
Problem 2.13 a) From conservation of energy,
T0 + V0 − W01 = T1 + V1
Thus
1
0 + mgd sin θ − µmgd cos θ = mv 2 + 0
2
Thus q
v= 2gd(sin θ − µ cos θ) = 2.04 m/s
b) From conservation of energy,
T1 + V1 − W12 = T2 + V2
Thus
1 1
mv 2 + mgx sin θ − µmgx cos θ = 0 + kx2
2 1 2
This gives
6.2421 + 20.807x − 8.3228x = 500x2
which has the roots x = 0.1249 and x = −0.0999. Choosing the positive root, we see that
the spring is compressed by 0.1249 m.
Problem 2.14
1 h i
W = f x − k (x + x0)2 − x20 − mgx sin θ
2
or
1 h i
W = 400(2) − 44 (2.5)2 − (0.5)2 − 11(9.81)2(0.5) = 560.09 N · m
2
Problem 2.15 Let x1 be the initial stretch in the spring from its free length. Then
(L + x1 )2 = (D1 − r)2 + D22
where r is the radius of the cylinder. This gives x1 = 1.828 m.

From conservation of energy,
T 1 + V1 = T2 + V2
or
1 1 1 1
0 + kx21 = mv 2 + Iω 2 + kx22
2 2 2 2
where v = Rω and x2 = D1 − r − L = 1 m. This gives
1 1
0 + 41.77 = 10(0.25ω)2 + 0.4ω 2 + 12.5
2 2
or ω = 7.56 rad/s.
Problem 2.16 The velocity of the mass is zero initially and also when the maximum
compression is attained. Therefore ∆T = 0 and we have ∆T + ∆V = ∆T + ∆Vs + ∆Vg = 0
or ∆Vs + ∆Vg = 0. That is, if the mass is dropped from a height h above the middle
spring and if we choose the gravitational potential energy to be zero at that height, then
the maximum spring compression x can be found by adding the change in the gravitational
potential energy 0 − W (h + x) = −W (h + x) to the change in potential energy stored in
the springs. Thus, letting W = mg,
1
k1 (x2 − 0) + [0 − W (h + x)] if x < d
2
where d is the difference in the spring lengths (d = 0.1 m). This gives the following quadratic
equation to solve for x:
1
k 1 x2 − W x − W h = 0 if x < d (1)
2
If x ≥ d, ∆Vs + ∆Vg = 0 gives
1 1 h i
k1 (x2 − 0) + (2k2) (x − d)2 − 0 + [0 − W (h + x)] = 0 if x ≥ d
2 2
which gives the following quadratic equation to solve for x.
(k1 + 2k2)x2 − (2W + 4k2d)x + 2k2d2 − 2W h = 0 if x ≥ d (2)
For the given values, equation (1) becomes
104x2 − 200(9.81)x − 200(9.81)(0.75) = 0 if x < 0.1
which has the roots x = 0.494, which is greater than 0.1, and x = −0.2978, which is not
feasible. Thus, since there is no solution for which x < 0.1, the side springs will also be
compressed. From equation (2)
2.6 × 104x2 − (1962 + 3200)x + 160 − 1471.5 = 0
which has the solutions: x = 0.344 and x = −0.146. We discard the second solution because
it is negative. So the outer springs will be compressed by 0.344 − 0.1 = 0.244 m and the
middle spring will be compressed 0.344 m.
Problem 2.17 From conservation of angular momentum,
HO1 = HO2
or h i
mv1 (0.5) = IG + m2(1)2 + m1(0.5)2 ω
or
1
0.8(10)v1(0.5) = (4)(1)2 + 4 + 0.8(0.5)2 ω
12
Solve for ω:
ω = 0.882 rad/s
Problem 2.18 From the figure,
vB1 = 10 cos 30◦
vA2 − vB2 0.6ω − vB2
e=1= =
vB1 − vA1 vB1 − 0
Thus
vB1 = 10 cos 300 = 0.6ω − vB2
and
vB2 = 0.6ω − 8.66
From conservation of momentum,
HO1 = HO2
or
m1 vB1(0.6) = IO ω + m1 vB2(0.6)
where
1
IO = IG + m2(0.6)2 = m2 (0.8)2 + 4(0.36) = 1.653
12
Thus
0.8(8.66)(0.6) = 1.653ω + 0.8(0.6)(0.6ω − 8.66)
This gives
ω = 4.28 rad/s
Problem 2.19 From conservation of angular momentum,
HO1 = HO2
or h i
mv1 (2L) = IG + m2 L2 + m1 (2L)2 ω
where
1 1
IG = m2 (2L)2 = 4.5(2.4)2 = 2.16
12 12
Thus h i
0.005(365)(2.4) = 2.16 + 4.5(1.2)2 + 0.005(2.4)2 ω
Solve for ω:
ω = 0.505 rad/s
Problem 2.20 Let fn be the reaction force on the pendulum from the pivot in the normal
direction. When θ = π/2, fn is vertical and is positive upward. Let ft be the reaction force
on the pendulum from the pivot in the tangential direction. When θ = π/2, ft is horizontal
and is positive to the right.
Summing moments about the pivot at point O gives the equation of motion of the
pendulum.
L
IO θ̈ = mg cos θ
2
Summing moments about the mass center gives
L
IG θ̈ = ft
2
Comparing these two expressions, we find that
mgIG
ft = cos θ
IO
Thus the tangential reaction force is ft = 0 when θ = π/2.

To compute the normal reaction force, sum forces in the vertical direction to obtain
man = fn − mg
where the normal acceleration is given by the following expression for circular motion.
L 2
an = ω
2
Thus
L
fn = mg + man = mg + m ω 2
2
We can compute ω either from energy conservation or by integrating the equation of
motion. With the energy method we use the fact that the kinetic energy at θ = 90◦ equals
the original potential energy at θ = 0. Thus
1 L
IO ω 2 = mg
2 2
Since IO = mL2 /3 for a slender rod, this gives ω 2 = 3g/L.
(Continued on the next page)

Solution Manual For Mechanical Vibration - William Palm

Hochgeladen von

Dokumentinformationen

Originaltitel

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

Solution Manual For Mechanical Vibration - William Palm

Hochgeladen von

Copyright:

Verfügbare Formate

Access full Solution Manual only here

x = s − R sin θ = R(θ − sin θ) y = R − R cos θ

ẋ = Rθ̇(1 − cos θ) = vB (1 − cos θ) ẏ = Rθ̇ sin θ = vB sin θ

To find the acceleration, differentiate again to obtain

ẍ = ˙ Bv(1 − cos θ) + vB θ̇ sin θ = aB (1 − cos θ) + Rω 2 sin θ

ÿ = ˙ Bvsin θ + vB θ̇ cos θ = aB sin θ + Rω 2 cos θ

Ḋ2 + ḊD̈ = ˙ 2x+ ẋẍ

ẋ2 + ẋẍ − Ḋ2 (0.2)2 + 0 − (0.1885)2

mC L2C θ̈ = −mC LC g sin θ

IG φ̇φ̈ + M (r − R)2θ̇ θ̈ + M g(r − R) sin θ θ̇ = 0

But Rφ̇ = rθ̇ and φ̈ = rθ̈/R. Thus

Cancel θ̇ and collect terms to obtain

m1 g(L + 0.03) − m2g(0.045 − L) − m3g(0.09 + 0.015 − L) = 0

0.56(L + 0.03) − 0.84(0.045 − L) − 4.5(0.105 − L) = 0

which gives L = 0.084 m.

0.0525θ̈ = −4.862 sin θ

1 fL mgL mL2 mL2 2

Figure : for Problem 2.11

(L + x1 )2 = (D1 − r)2 + D22

where r is the radius of the cylinder. This gives x1 = 1.828 m.

(k1 + 2k2)x2 − (2W + 4k2d)x + 2k2d2 − 2W h = 0 if x ≥ d (2)

For the given values, equation (1) becomes

104x2 − 200(9.81)x − 200(9.81)(0.75) = 0 if x < 0.1

2.6 × 104x2 − (1962 + 3200)x + 160 − 1471.5 = 0

Thus the tangential reaction force is ft = 0 when θ = π/2.

Das könnte Ihnen auch gefallen